- A global approach to hand gesture vocabulary (GV) design is proposed which includes human as well as technical design factors. The human centered desires (intuitiveness, comfort) of multiple users are implicitly represented through indices obtained from ergonomic studies representing the psycho-physiological aspects of users. The main technical aspect considered is that of machine recognition of gestures. We believe this is the first conceptualization of the optimal hand gesture design problem in analytical form. The problem is formulated as a multicriteria optimization problem (MCOP) for which a 3D representation of the solution space is used to display candidate solutions, as well as Pareto optimal ones. A computational example is given for the design of a small robot command GV using the MCOP procedure.